#!/usr/bin/env python # *-----------------------------------------------------------------------* # | | # | Copyright (c) 2016 by Paul Scherrer Institute (http://www.psi.ch) | # | | # | Author Thierry Zamofing (thierry.zamofing@psi.ch) | # *-----------------------------------------------------------------------* ''' shape an optimal path with given points verbose bits: 1 basic info 2 plot sorting steps 4 list program 4 upload progress 8 plot gather path #config file example: { "points": [ [100,523],[635,632],[756,213], "sequencer":[ 'gen_grid_points(w=10,h=10,pitch=100,rnd=.2)', 'sort_points()', 'gen_prog(file="/tmp/shapepath.prg")', 'plot_gather()'] } Sequencer functions are: - generate points (if not in the 'points' configuration) gen_rand_points(self,n=107,scale=1000) gen_grid_points(w=10,h=10,pitch=100,rnd=.2) - sorting points: sort_points(self) - generate/download/execute motion progran, upload trace of motors (gather data) gen_prog(self,prgId=2,file=None,host=None) if host=None nothing will be downloaded/executed and trace of motors will not be uploaded if file=None the program will not be saved and nothing will be executed - plot gathered data plot_gather() this makes only sence, if motion has been executed and data can be gathered from the powerbrick Acquired time is:MaxSamples*Period*.2 ''' import os, sys, json import numpy as np import matplotlib as mpl import matplotlib.pyplot as plt import subprocess as sprc import telnetlib from utilities import * class ShapePath: def __init__(self,args): if args.cfg: fh=open(args.cfg,'r') s=fh.read() cfg=json.loads(s, object_hook=ConvUtf8) s=json.dumps(cfg, indent=2, separators=(',', ': '));print s else: #cfg={"points": [[100,523],[635,632],[756,213]],"sequencer":['sort_points()','gen_prog(file="/tmp/shapepath.prg",host="SAROP11-CPPM-MOT6871")','plot_gather()']} #cfg={"sequencer":['gen_rand_points(n=107, scale=1000)','sort_points()','gen_prog(file="/tmp/shapepath.prg",host="SAROP11-CPPM-MOT6871")','plot_gather()']} #cfg={"sequencer":['gen_grid_points(w=10,h=10,pitch=100,rnd=.2)','sort_points()','gen_prog(file="/tmp/shapepath.prg",host="SAROP11-CPPM-MOT6871")','plot_gather()']} #cfg={"sequencer":['gen_grid_points(w=10,h=10,pitch=100,rnd=0.2)','sort_points()','gen_prog(file="/tmp/shapepath.prg")','plot_gather()']} #cfg = {"sequencer": ['gen_rand_points(n=107, scale=1000)', 'sort_points()','plot_gather()']} cfg={"sequencer":['gen_grid_points(w=20,h=20,pitch=50,rnd=.2)','sort_points()','gen_prog(file="/tmp/shapepath.prg",host="SAROP11-CPPM-MOT6871")','plot_gather()']} cfg={"sequencer":['gen_grid_points(w=20,h=20,pitch=50,rnd=.2)','sort_points()','gen_prog(file="/tmp/shapepath.prg")','plot_gather()']} #cfg={"sequencer":['gen_rand_points(n=400, scale=1000)','sort_points()','gen_prog(file="/tmp/shapepath.prg",host="SAROP11-CPPM-MOT6871")','plot_gather()']} self.cfg=dotdict(cfg) self.args=args def run(self): print('args='+str(self.args)) print('cfg='+str(self.cfg)) try: self.points=np.array(self.cfg.points) except AttributeError: pass try: sequencer= self.cfg.pop('sequencer') except KeyError: print('no command sequence to execute') else: dryrun=self.args.dryrun for cmd in sequencer: print '>'*5+' '+cmd+' '+'<'*5 if not dryrun: eval('self.' + cmd) def gen_rand_points(self,n=107,scale=1000): np.random.seed(0) #data=np.random.randint(0,1000,(30,2)) pts=np.random.rand(n,2)*scale self.points=pts def gen_grid_points(self,w=10,h=10,pitch=100,rnd=.2): np.random.seed(0) xx,yy=np.meshgrid(range(w), range(h)) pts=np.array([xx.reshape(-1),yy.reshape(-1)],dtype=np.float).transpose()*pitch if rnd != 0: pts+=(np.random.rand(pts.shape[0],2)*(rnd*pitch)) self.points=pts def gen_prog(self,prgId=2,file=None,host=None,mode=0): prg=[] gather={"MaxSamples":100000, "Period":10 } #channels=["Motor[1].ActPos","Motor[2].ActPos","Motor[3].ActPos"] channels=["Motor[1].ActPos","Motor[2].ActPos","Motor[3].ActPos","Motor[1].DesPos","Motor[2].DesPos","Motor[3].DesPos"] prg.append('Gather.Enable=0') prg.append('Gather.Items=%d'%len(channels)) for k,v in gather.iteritems(): prg.append('Gather.%s=%d'%(k,v)) for i,c in enumerate(channels): prg.append('Gather.Addr[%d]=%s.a'%(i,c)) prg.append('open prog %d'%(prgId)) # this uses Coord[1].Tm and limits with MaxSpeed prg.append('Gather.Enable=2') if mode==0: prg.append(' linear abs') data=self.points for idx in range(data.shape[0]): prg.append('X(%f) Y(%f)'%tuple(data[idx,:])) prg.append('dwell 100') if mode==1: pass prg.append('Gather.Enable=0') prg.append('close') prg.append('&1\nb%dr\n'%prgId) if self.args.verbose & 4: for ln in prg: print(ln) if file is not None: fh=open(file,'w') fh.write('\n'.join(prg)) fh.close() if host is not None: cmd ='gpasciiCommander --host '+host+' '+ file print cmd p = sprc.Popen(cmd, shell=True)#, stdout=sprc.PIPE, stderr=sprc.STDOUT) #res=p.stdout.readlines(); print res retval = p.wait() #gather -u /var/ftp/gather/out.txt cmd ='PBGatherPlot -m24 -v7 --host '+host print cmd p = sprc.Popen(cmd, shell=True)#, stdout=sprc.PIPE, stderr=sprc.STDOUT) retval = p.wait() self.prg=prg def sort_points(self): pts=self.points verb=self.args.verbose #if verb&2: # self.plot_points(pts) #sort points along y pts=pts[pts[:, 1].argsort()] #if verb&2: # self.plot_points(pts) #group sorting cnt=pts.shape[0] idx=np.ndarray(cnt,dtype=np.int32) grp_cnt=int(np.sqrt(cnt)) grp_sz=int(np.ceil(float(cnt)/grp_cnt)) for i in range(grp_cnt): a=i*grp_sz #print a,a+grp_sz if i%2: idx[a:a+grp_sz]=a+pts[a:a+grp_sz,0].argsort()[::-1] else: idx[a:a+grp_sz]=a+pts[a:a+grp_sz,0].argsort() #print(idx) pts=pts[idx] if verb&2: self.plot_points(pts) plt.show() self.points=pts @staticmethod def onclick(event): print 'button=%s, x=%d, y=%d, xdata=%f, ydata=%f'%( event.button, event.x, event.y, event.xdata, event.ydata) obj=event.canvas.figure.obj def plot_points(self,pts): fig=plt.figure() ax = fig.add_subplot(1,1,1) #hl=ax[0].plot(x, y, color=col) hl=ax.plot(pts[:,0],pts[:,1],'r.') hl=ax.plot(pts[:,0],pts[:,1],'y--') cid = fig.canvas.mpl_connect('button_press_event', self.onclick) fig.obj=self self.ax=ax self.hl=hl def plot_gather(self,fnLoc='/tmp/gather.txt',fnOut='/tmp/shapepath.npz'): pts=self.points rec = np.genfromtxt(fnLoc, delimiter=' ') if fnOut: np.savez_compressed(fnOut, rec=rec, pts=pts) fig=plt.figure() ax = fig.add_subplot(1,1,1) #hl=ax[0].plot(x, y, color=col) hl=ax.plot(pts[:,0],pts[:,1],'r.') hl=ax.plot(pts[:,0],pts[:,1],'y--') hl = ax.plot(rec[:, 4], rec[:, 5], 'b-') hl=ax.plot(rec[:,1],rec[:,2],'g-') ax.xaxis.set_label_text('x-pos um') ax.yaxis.set_label_text('y-pos um') cid = fig.canvas.mpl_connect('button_press_event', self.onclick) fig.obj=self self.ax=ax self.hl=hl fig = plt.figure() ax = fig.add_subplot(1, 1, 1) err=np.sqrt((rec[:,1]-rec[:,4])**2+(rec[:,1]-rec[:,4])**2) hl = ax.plot(err, 'r-') ax.xaxis.set_label_text('time (10x servo cycle)') ax.yaxis.set_label_text('pos-error um') plt.show() if __name__=='__main__': from optparse import OptionParser, IndentedHelpFormatter class MyFormatter(IndentedHelpFormatter): 'helper class for formating the OptionParser' def __init__(self): IndentedHelpFormatter.__init__(self) def format_epilog(self, epilog): if epilog: return epilog else: return "" def parse_args(): 'main command line interpreter function' #usage: gpasciiCommunicator.py --host=PPMACZT84 myPowerBRICK.cfg (h, t)=os.path.split(sys.argv[0]);cmd='\n '+(t if len(h)>3 else sys.argv[0])+' ' exampleCmd=('--host=PPMAC1391 -m 63 --cfg gather.cfg', 'samplePowerBrick.cfg', '-n stackCheck1.cfg', '--host=PPMACZT84 stackCheck1.cfg', '--host=PPMACZT84 stackCheck1.cfg -v15', ) epilog=__doc__+''' Examples:'''+''.join(map(lambda s:cmd+s, exampleCmd))+'\n ' fmt=MyFormatter() parser=OptionParser(epilog=epilog, formatter=fmt) parser.add_option('-v', '--verbose', type="int", dest='verbose', help='verbosity bits (see below)', default=0) parser.add_option('-n', '--dryrun', action='store_true', help='dryrun to stdout') parser.add_option('--cfg', help='config file containing json configuration structure') (args, other)=parser.parse_args() args.other=other sp=ShapePath(args) sp.run() #------------------ Main Code ---------------------------------- #ssh_test() ret=parse_args() exit(ret)